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<div class="title">model_outlier_removal.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter_indices.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/ModelCoefficients.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">// Sample Consensus models</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html">   69</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_model_outlier_removal.html">ModelOutlierRemoval</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">FilterIndices&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::Ptr SampleConsensusModelPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::Normal&gt;::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::Normal&gt;::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">inline</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a92504900c55217f8ec0e337c7e0ed008">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a92504900c55217f8ec0e337c7e0ed008">ModelOutlierRemoval</a> (<span class="keywordtype">bool</span> extract_removed_indices = <span class="keyword">false</span>) :</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;::<a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a> (extract_removed_indices)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a> = 0;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        normals_distance_weight_ = 0;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;ModelOutlierRemoval&quot;</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">setThresholdFunction</a> (&amp;<a class="code" href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval&lt;PointT&gt;::checkSingleThreshold</a>, *<span class="keyword">this</span>);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#af1b99bece766701637636faf3e7611f5">   96</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#af1b99bece766701637636faf3e7611f5">setModelCoefficients</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> model_coefficients)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a>.resize (model_coefficients.values.size ());</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; model_coefficients.values.size (); i++)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          <a class="code" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a>[i] = model_coefficients.values[i];</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a986c3092c64fb8da007ee358381b1672">  108</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a986c3092c64fb8da007ee358381b1672">getModelCoefficients</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> mc;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        mc.values.resize (<a class="code" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a>.size ());</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; mc.values.size (); i++)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          mc.values[i] = <a class="code" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a>[i];</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        return (mc);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a30451f61b53235dddea4bb2d1a055e21">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a30451f61b53235dddea4bb2d1a055e21">setModelType</a> (pcl::SacModel model)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">model_type_</a> = model;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keyword">inline</span> pcl::SacModel</div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#ac8b43602729da9bafc11c83005fd3854">  126</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#ac8b43602729da9bafc11c83005fd3854">getModelType</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">model_type_</a>);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#afb3d82cbedb9891c895b00dbda3612bd">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#afb3d82cbedb9891c895b00dbda3612bd">setThreshold</a> (<span class="keywordtype">float</span> thresh)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a> = thresh;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a528af2f982ad598acf12631ac81b5f24">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a528af2f982ad598acf12631ac81b5f24">getThreshold</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a1176fc3fd825c7f34e6e14a91e53d580">  147</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a1176fc3fd825c7f34e6e14a91e53d580">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr normals_ptr)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        cloud_normals_ = normals_ptr;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">inline</span> PointCloudNConstPtr</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a9ca16c7cb037a10fd189778c1aaad99b">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a9ca16c7cb037a10fd189778c1aaad99b">getInputNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">return</span> (cloud_normals_);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#aa4f5129e7f39f6f74dccbad8b00e39a6">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#aa4f5129e7f39f6f74dccbad8b00e39a6">setNormalDistanceWeight</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> weight)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        normals_distance_weight_ = weight;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a84037ffa5670bd5f5a36dc024c87ceec">  168</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a84037ffa5670bd5f5a36dc024c87ceec">getNormalDistanceWeight</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordflow">return</span> (normals_distance_weight_);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">  177</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">setThresholdFunction</a> (boost::function&lt;<span class="keywordtype">bool</span> (<span class="keywordtype">double</span>)&gt; thresh)</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        threshold_function_ = thresh;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a982e72d52ac3e962640bf74604eb7b94">  187</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a982e72d52ac3e962640bf74604eb7b94">setThresholdFunction</a> (<span class="keywordtype">bool</span> (T::*thresh_function) (<span class="keywordtype">double</span>), T&amp; instance)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      {</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">setThresholdFunction</a> (boost::bind (thresh_function, boost::ref (instance), _1));</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::negative_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::keep_organized_</a>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::user_filter_value_</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::extract_removed_indices_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::removed_indices_</a>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a3f4b944996f04740e56ac378f8f06183">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#ae9ef428e59a14d0136cf44ac2c6aea90">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#ae9ef428e59a14d0136cf44ac2c6aea90">applyFilter</a> (std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">applyFilterIndices</a> (indices);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <a class="code" href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">applyFilterIndices</a> (std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordtype">double</span> normals_distance_weight_;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      PointCloudNConstPtr cloud_normals_;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">  229</a></span>&#160;      SampleConsensusModelPtr <a class="code" href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">model_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">  232</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">  235</a></span>&#160;      Eigen::VectorXf <a class="code" href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">model_coefficients_</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">  238</a></span>&#160;      pcl::SacModel <a class="code" href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">model_type_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      boost::function&lt;bool (<span class="keywordtype">double</span>)&gt; threshold_function_;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      checkSingleThreshold (<span class="keywordtype">double</span> value)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">return</span> (value &lt; <a class="code" href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">thresh_</a>);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      }</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      initSACModel (pcl::SacModel model_type);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  };</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/model_outlier_removal.hpp&gt;</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">// PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html"><div class="ttname"><a href="classpcl_1_1_filter_indices.html">pcl::FilterIndices</a></div><div class="ttdoc">FilterIndices represents the base class for filters that are about binary point removal....</div><div class="ttdef"><b>Definition:</b> filter_indices.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html">pcl::ModelOutlierRemoval</a></div><div class="ttdoc">ModelOutlierRemoval filters points in a cloud based on the distance between model and point.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a0efd26dbbbb34eb4eb07fb5fd75f7d50"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a0efd26dbbbb34eb4eb07fb5fd75f7d50">pcl::ModelOutlierRemoval::model_coefficients_</a></div><div class="ttdeci">Eigen::VectorXf model_coefficients_</div><div class="ttdoc">The model coefficients</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a1176fc3fd825c7f34e6e14a91e53d580"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a1176fc3fd825c7f34e6e14a91e53d580">pcl::ModelOutlierRemoval::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr normals_ptr)</div><div class="ttdoc">Set the normals cloud</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a283c4efd295c1b2453536db8a4c6c2ce"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a283c4efd295c1b2453536db8a4c6c2ce">pcl::ModelOutlierRemoval::setThresholdFunction</a></div><div class="ttdeci">void setThresholdFunction(boost::function&lt; bool(double)&gt; thresh)</div><div class="ttdoc">Register a different threshold function</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a30451f61b53235dddea4bb2d1a055e21"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a30451f61b53235dddea4bb2d1a055e21">pcl::ModelOutlierRemoval::setModelType</a></div><div class="ttdeci">void setModelType(pcl::SacModel model)</div><div class="ttdoc">Set the type of SAC model used.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a3cf4bbd4c9245d3f5935ce5a2055571c"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a3cf4bbd4c9245d3f5935ce5a2055571c">pcl::ModelOutlierRemoval::applyFilterIndices</a></div><div class="ttdeci">void applyFilterIndices(std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Filtered results are indexed by an indices array.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.hpp:171</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a3f4b944996f04740e56ac378f8f06183"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a3f4b944996f04740e56ac378f8f06183">pcl::ModelOutlierRemoval::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filtered results are stored in a separate point cloud.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.hpp:146</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a463fce3cf323fb8410c82fd808390da3"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a463fce3cf323fb8410c82fd808390da3">pcl::ModelOutlierRemoval::thresh_</a></div><div class="ttdeci">float thresh_</div><div class="ttdoc">The threshold used to seperate outliers (removed_indices) from inliers (indices)</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:232</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a528af2f982ad598acf12631ac81b5f24"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a528af2f982ad598acf12631ac81b5f24">pcl::ModelOutlierRemoval::getThreshold</a></div><div class="ttdeci">float getThreshold() const</div><div class="ttdoc">Get the thresholdfunction</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a60aecb5280930a500556ff623e230d36"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a60aecb5280930a500556ff623e230d36">pcl::ModelOutlierRemoval::model_type_</a></div><div class="ttdeci">pcl::SacModel model_type_</div><div class="ttdoc">The type of model to use (user given parameter).</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a84037ffa5670bd5f5a36dc024c87ceec"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a84037ffa5670bd5f5a36dc024c87ceec">pcl::ModelOutlierRemoval::getNormalDistanceWeight</a></div><div class="ttdeci">double getNormalDistanceWeight() const</div><div class="ttdoc">get the normal distance weight</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:168</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a92504900c55217f8ec0e337c7e0ed008"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a92504900c55217f8ec0e337c7e0ed008">pcl::ModelOutlierRemoval::ModelOutlierRemoval</a></div><div class="ttdeci">ModelOutlierRemoval(bool extract_removed_indices=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a982e72d52ac3e962640bf74604eb7b94"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a982e72d52ac3e962640bf74604eb7b94">pcl::ModelOutlierRemoval::setThresholdFunction</a></div><div class="ttdeci">void setThresholdFunction(bool(T::*thresh_function)(double), T &amp;instance)</div><div class="ttdoc">Register a different threshold function</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a986c3092c64fb8da007ee358381b1672"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a986c3092c64fb8da007ee358381b1672">pcl::ModelOutlierRemoval::getModelCoefficients</a></div><div class="ttdeci">pcl::ModelCoefficients getModelCoefficients() const</div><div class="ttdoc">returns the models coefficients</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_a9ca16c7cb037a10fd189778c1aaad99b"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#a9ca16c7cb037a10fd189778c1aaad99b">pcl::ModelOutlierRemoval::getInputNormals</a></div><div class="ttdeci">PointCloudNConstPtr getInputNormals() const</div><div class="ttdoc">Get the normals cloud</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_aa4f5129e7f39f6f74dccbad8b00e39a6"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#aa4f5129e7f39f6f74dccbad8b00e39a6">pcl::ModelOutlierRemoval::setNormalDistanceWeight</a></div><div class="ttdeci">void setNormalDistanceWeight(const double weight)</div><div class="ttdoc">Set the normals distance weight</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_aa93ec51c79214cfe3d2c7eefa2f74102"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#aa93ec51c79214cfe3d2c7eefa2f74102">pcl::ModelOutlierRemoval::model_</a></div><div class="ttdeci">SampleConsensusModelPtr model_</div><div class="ttdoc">The model used to calculate distances</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_ac8b43602729da9bafc11c83005fd3854"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#ac8b43602729da9bafc11c83005fd3854">pcl::ModelOutlierRemoval::getModelType</a></div><div class="ttdeci">pcl::SacModel getModelType() const</div><div class="ttdoc">Get the type of SAC model used.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_ae9ef428e59a14d0136cf44ac2c6aea90"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#ae9ef428e59a14d0136cf44ac2c6aea90">pcl::ModelOutlierRemoval::applyFilter</a></div><div class="ttdeci">void applyFilter(std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Filtered results are indexed by an indices array.</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_af1b99bece766701637636faf3e7611f5"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#af1b99bece766701637636faf3e7611f5">pcl::ModelOutlierRemoval::setModelCoefficients</a></div><div class="ttdeci">void setModelCoefficients(const pcl::ModelCoefficients model_coefficients)</div><div class="ttdoc">sets the models coefficients</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_model_outlier_removal_html_afb3d82cbedb9891c895b00dbda3612bd"><div class="ttname"><a href="classpcl_1_1_model_outlier_removal.html#afb3d82cbedb9891c895b00dbda3612bd">pcl::ModelOutlierRemoval::setThreshold</a></div><div class="ttdeci">void setThreshold(float thresh)</div><div class="ttdoc">Set the thresholdfunction</div><div class="ttdef"><b>Definition:</b> model_outlier_removal.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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